mirror of https://github.com/ArduPilot/ardupilot
229 lines
5.1 KiB
Plaintext
229 lines
5.1 KiB
Plaintext
# hw definition file for f405 Matek CAN GPS
|
|
|
|
# MCU class and specific type
|
|
MCU STM32F4xx STM32F405xx
|
|
|
|
# bootloader starts firmware at 64k
|
|
FLASH_RESERVE_START_KB 64
|
|
FLASH_SIZE_KB 1024
|
|
|
|
# store parameters in pages 2 and 3
|
|
STORAGE_FLASH_PAGE 2
|
|
define HAL_STORAGE_SIZE 15360
|
|
|
|
# board ID for firmware load
|
|
APJ_BOARD_ID 1014
|
|
|
|
env AP_PERIPH 1
|
|
|
|
define STM32_ST_USE_TIMER 5
|
|
define CH_CFG_ST_RESOLUTION 32
|
|
|
|
# enable watchdog
|
|
|
|
# crystal frequency
|
|
OSCILLATOR_HZ 8000000
|
|
|
|
STDOUT_SERIAL SD1
|
|
STDOUT_BAUDRATE 57600
|
|
|
|
# blue LED0 marked as ACT
|
|
PA14 LED OUTPUT HIGH
|
|
define HAL_LED_ON 1
|
|
|
|
define HAL_NO_GPIO_IRQ
|
|
define SERIAL_BUFFERS_SIZE 512
|
|
define PORT_INT_REQUIRED_STACK 64
|
|
|
|
# debug (disabled to allow for PA14 LED above), to enable debugging disable the use of PA14 above
|
|
#PA13 JTMS-SWDIO SWD
|
|
#PA14 JTCK-SWCLK SWD
|
|
|
|
# avoid timer and RCIN threads to save memory
|
|
define HAL_NO_RCIN_THREAD
|
|
|
|
define HAL_USE_RTC FALSE
|
|
define DISABLE_SERIAL_ESC_COMM TRUE
|
|
|
|
define DMA_RESERVE_SIZE 0
|
|
|
|
define HAL_DISABLE_LOOP_DELAY
|
|
|
|
define HAL_NO_MONITOR_THREAD
|
|
|
|
define HAL_DEVICE_THREAD_STACK 768
|
|
|
|
# we setup a small defaults.parm
|
|
define AP_PARAM_MAX_EMBEDDED_PARAM 256
|
|
|
|
|
|
|
|
# keep ROMFS uncompressed as we don't have enough RAM
|
|
# to uncompress the bootloader at runtime
|
|
env ROMFS_UNCOMPRESSED True
|
|
|
|
|
|
# --------------------- SPI1 IMU -----------------------
|
|
PA5 SPI1_SCK SPI1
|
|
PA6 SPI1_MISO SPI1
|
|
PA7 SPI1_MOSI SPI1
|
|
PA4 MPU_CS CS
|
|
|
|
# SPIDEV icm20602 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 4*MHZ
|
|
# IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_90
|
|
|
|
|
|
# --------------------- SPI2 RM3100 --------------------
|
|
PB13 SPI2_SCK SPI2
|
|
PB14 SPI2_MISO SPI2
|
|
PB15 SPI2_MOSI SPI2
|
|
PB12 MAG_CS CS
|
|
|
|
|
|
# ---------------------- SPI3 SD ------------------------
|
|
PB3 SPI3_SCK SPI3
|
|
PB4 SPI3_MISO SPI3
|
|
PB5 SPI3_MOSI SPI3
|
|
PC14 SDCARD_CS CS
|
|
|
|
|
|
# ---------------------- I2C bus ------------------------
|
|
I2C_ORDER I2C2
|
|
|
|
PB10 I2C2_SCL I2C2
|
|
PB11 I2C2_SDA I2C2
|
|
|
|
define HAL_I2C_CLEAR_ON_TIMEOUT 0
|
|
define HAL_I2C_INTERNAL_MASK 1
|
|
|
|
|
|
# ---------------------- CAN bus -------------------------
|
|
PB8 CAN1_RX CAN1
|
|
PB9 CAN1_TX CAN1
|
|
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
|
|
|
|
# use DNA for node allocation
|
|
|
|
define CAN_APP_NODE_NAME "org.ardupilot.f405_MatekGPS"
|
|
|
|
|
|
# ---------------------- UARTs ---------------------------
|
|
# | sr0 | sr1 | sr2 | GPS | MSP |
|
|
SERIAL_ORDER USART1 USART2 USART3 UART4 UART5
|
|
|
|
# USART1, for debug
|
|
PA9 USART1_TX USART1 SPEED_HIGH NODMA
|
|
PA10 USART1_RX USART1 SPEED_HIGH NODMA
|
|
|
|
# USART2
|
|
PA2 USART2_TX USART2 SPEED_HIGH NODMA
|
|
PA3 USART2_RX USART2 SPEED_HIGH NODMA
|
|
|
|
# USART3
|
|
PC10 USART3_TX USART3 SPEED_HIGH NODMA
|
|
PC11 USART3_RX USART3 SPEED_HIGH NODMA
|
|
|
|
# UART4, for GPS
|
|
PA0 UART4_TX UART4 SPEED_HIGH NODMA
|
|
PA1 UART4_RX UART4 SPEED_HIGH NODMA
|
|
|
|
# USART5, for MSP
|
|
PC12 UART5_TX UART5 SPEED_HIGH
|
|
PD2 UART5_RX UART5 SPEED_HIGH
|
|
|
|
|
|
# --------------------- PWM -----------------------
|
|
PC6 TIM8_CH1 TIM8 PWM(1) GPIO(50)
|
|
PC7 TIM8_CH2 TIM8 PWM(2) GPIO(51)
|
|
PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52)
|
|
PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53)
|
|
PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54)
|
|
PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
|
|
# PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)
|
|
# PB7 TIM4_CH2 TIM4 PWM(8) GPIO(57)
|
|
|
|
# WS2812 LED pin
|
|
PA15 TIM2_CH1 TIM2 PWM(7) GPIO(58)
|
|
|
|
# Beeper
|
|
PA8 TIM1_CH1 TIM1 GPIO(32) ALARM
|
|
|
|
# ----------------------- GPS ----------------------------
|
|
define HAL_PERIPH_ENABLE_GPS
|
|
define GPS_MAX_RATE_MS 200
|
|
|
|
define GPS_MAX_RECEIVERS 1
|
|
define GPS_MAX_INSTANCES 1
|
|
|
|
|
|
# ---------------------- COMPASS ---------------------------
|
|
define HAL_PERIPH_ENABLE_MAG
|
|
|
|
SPIDEV rm3100 SPI2 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
|
|
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
|
|
|
|
define HAL_COMPASS_MAX_SENSORS 1
|
|
|
|
# added QMC5883L for different board varients
|
|
COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
|
|
|
|
|
|
# --------------------- DPS310 ---------------------------
|
|
define HAL_PERIPH_ENABLE_BARO
|
|
define HAL_BARO_ALLOW_INIT_NO_BARO
|
|
|
|
BARO DPS310 I2C:0:0x76
|
|
|
|
|
|
# ------------------ I2C airspeed -------------------------
|
|
define HAL_PERIPH_ENABLE_AIRSPEED
|
|
|
|
# MS4525 sensor by default
|
|
define HAL_AIRSPEED_TYPE_DEFAULT 1
|
|
define AIRSPEED_MAX_SENSORS 1
|
|
|
|
# -------------------- MSP --------------------------------
|
|
define HAL_PERIPH_ENABLE_MSP
|
|
define HAL_MSP_ENABLED 1
|
|
define AP_PERIPH_MSP_PORT_DEFAULT 4
|
|
|
|
# ----------------- rangefinder,ADSB ----------------------
|
|
define HAL_PERIPH_ENABLE_RANGEFINDER
|
|
|
|
# disable rangefinder by default
|
|
define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
|
|
|
|
# ------------------ BATTERY Monitor -----------------------
|
|
define HAL_PERIPH_ENABLE_BATTERY
|
|
|
|
define HAL_USE_ADC TRUE
|
|
define STM32_ADC_USE_ADC1 TRUE
|
|
|
|
# define HAL_DISABLE_ADC_DRIVER TRUE
|
|
|
|
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
|
|
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
|
|
# PC2 RSSI_ADC_PIN ADC1 SCALE(1)
|
|
# PC3 PRESSURE_SENS ADC1 SCALE(1)
|
|
PC5 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
|
|
|
|
# define BOARD_RSSI_ANA_PIN 12
|
|
# define HAL_DEFAULT_AIRSPEED_PIN 13
|
|
|
|
# Set the Default Battery Monitor Type to be Off
|
|
define HAL_BATT_MONITOR_DEFAULT 0
|
|
|
|
define HAL_BATT_VOLT_PIN 10
|
|
define HAL_BATT_VOLT_SCALE 21.0
|
|
|
|
define HAL_BATT_CURR_PIN 11
|
|
define HAL_BATT_CURR_SCALE 40.0
|
|
|
|
define HAL_BATT2_VOLT_PIN 15
|
|
define HAL_BATT2_VOLT_SCALE 11.0
|
|
|
|
|
|
# -------------------- Buzzer+NeoPixels --------------d------
|
|
define HAL_PERIPH_ENABLE_RC_OUT
|
|
define HAL_PERIPH_ENABLE_NOTIFY
|